Apologies, what details do I need to add for the FULL network settings?
Posts by akaaschool
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I have a KUKA KR30-3 (70114) and KR60-3 (70115) in one cell both with KRC4 controllers which were running 8.3.17 and I just updated them both to 8.3.19 which I believe has caused this error.
I am using WorkVisual 6.0 but this also wasn't working correct on WorkVisual 5.0.
I can ping both the robots correctly from the PC that I am running WorkVisual on both their IP addresses, 10.0.0.151 and 10.0.0.152, but when it comes to opening WorkVisual and going to "Browse", it is only ever reliably showing one robot/controller or the other, never both like it used to. I cannot find a way to have both 70114 and 70115 in the browse window at the same time, even if I do the little search icon and enter the IP addresses manually. Is there something obvious I am missing? Or is this just a WorkVisual bug and I should just reinstall it?
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What does this mean?
The not working Smartpad is working on the other cabinet, or the Smartpad from the working robot is also working on the robot where the other Smartpad doesn't work?
The setup is:
- robot controller 1 (RC1) with smartpad 1 (SP1)
- robot controller 2 with smartpad 2
SP2 is the one with the error.
I unplugged SP2 from RC2, and unplugged SP1 from RC1.
I plugged SP1 into RC2 and both SP1 and RC2 work absolutely fine.
I plugged SP2 into RC1 and SP2 shows the same error on RC1 as it did for RC2.
I hope that clears things up.
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Hmmm, not sure if I'll do it or not but out of interest what would you suggest de_Arce?
panic mode how often are these problems caused by dodgy cables?
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Thanks for the replies.
I managed to get the cabinet open and connect a monitor and everything was fine. Have now swapped smartPADs with robot 1 and it works fine on robot 2.
I have asked KUKA for a quote on repair/exchange for the smartPAD and they have quoted over £3000!?
Can anyone recommend any intermediary steps for trying to fix it? I can't seem to find the settings you are talking about de_Arce?
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I have a KR30-3 with a KRC4 8.3.17 which has recently started showing "Could not set IP address" error. I have looked at other threads and tried disconnecting and reconnecting the smartPAD but without any success. I have also disconnected and reconnected the ethernet cables in X65 and X66 and rebooted but no change.
The error started occurring when a USB stick was inserted into one of the two USB ports on the front of the KRC4 cabinet. These have always been a bit dodgy and temperamental and could sometimes caused an Ethercat error (KSS13021) to be caused if the USB stick was waggled around too much upon insertion, but that could usually be cleared with rebooting the system entirely.
This issue is worse now though because at least with previous errors I could use the interface on the smartPAD, but now this isn't possible and I'm stuck after booting. I have a feeling that maybe the dodgy USB ports have somehow knocked some other connection out?
A side issue is that I'm trying to open the cabinet to connect a monitor to the KPC and cannot seem to unlock the front door? Am I missing something obvious here? I'm not using the supplied key but have just turned it using a screwdriver is maybe the issue? But the whole locking system seems to come out and the front door doesn't budge either way.
It's very likely we need to get the cabinet serviced properly, but in the mean time, are there any fixes that could be recommended?
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Just returning to this a while afterwards to thank you both again. I managed to figure everything out despite the quite steep learning curve and that was definitely a lot to do with this thread!
If anyone reading this thread is having similar issues, more than happy to answer questions on how I managed to get everything working!
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Thank you both for your incredibly lengthy responses!
signal mapping is explained rather well in the WoV help and documentation.
here showing same thing on EL6695 rather than EL6692 (don't feel like importing ESI files)
This is what I was missing I think - what an incredibly important window to have hidden away behind a tiny icon!! I will have a look around in there and see.
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Just wondering if anyone has any more thoughts on this?
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QuoteI know that on the KR30-3, there are 5 working digital outputs ($OUT[1] through to $OUT[5]) that I can access using this physical I/O terminal that we have set up next to the robot. An ideal outcome for me would be to replace one of these digital outputs with an analogue output.
From now understanding the TwinCAT System Manager a bit better, I can now see that indeed one EL6692 handles the I/O for the KR30 and the other handles it for the KR60. There are 4 banks of Inputs and Outputs for each EL6692. I can see that the first 2 Input banks handle the digital output signals [1]-[32]. I can also see that in WorkVisual that indeed that $OUT[1]#G maps to the first Input bank on the EL6692. What decides the order of the mapping between WorkVisual and TwinCAT? Is it just the order in which the bits are received? Is it possible to mix digital and analogue outputs (size permitting) in the same input bank on the EL6692?
And finally, the physical I/O terminal with 5 digital outputs and 5 digital inputs that I mentioned in my original post... what is the likely order of physical connections to allow this to happen? Is it Beckhoff Terminals --> KRC4 SYS-X44 --> Physical I/O terminal? Does additional mapping need to occur in WorkVisual or somewhere to allow for the physical I/O terminals near the robot to be used?
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Another question I have is how is it possible for the Digital Outputs 49-63 to be converted from digital signals to analogue values as seen below? E.g. If $DO[63] is HIGH then the aiSpindleSpeed value is 16384, if $DO[62] + $DO[63] are both HIGH then the aiSpindleSpeed value is 24576. Is this done in the PLC configuration somewhere? As far as I can see in the System Manager, the digital signals never go into the Beckhoff interface. When I open PLC Control it just opens an example file (Maschine.pro) and I cannot seem to "Open from target" the existing PLC config. From clicking on the IEC1131 project (in System Manager), it seems to provide a local path to a .tpy file that I don't believe exists on this PC any more, unless its referring to a location on the CX8090?
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Okay, ignore that reply for now... I found the "Open from Target" button... 🤦
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Thanks panic mode for the response.
So I've now had a chance to play around with everything a bit more and I've got TwinCAT 2.11.2307 running (Engineering version so I can run it on my x64 OS). I've followed the instructions in the CX8090 manual (10.1 First Steps - steps 1-17) and have got to the stage in the System Manager where I can happily view all the terminals, including the EL4004 that I want to map, and the two EL6692s that you mentioned is likely to be connecting the CX8090/the whole I/O setup to the robots (see below).
The next step for me would be to be able to access the existing mappings on the configuration. There are already many many I/Os mapped for the safety systems etc that I do NOT want to mess with. However, when I load up the TwinCAT PLC Control then there are no existing PLC projects to load or edit, and when browsing Digital Outputs that I know are correctly mapped (see below) they do not seem to be "Linked to" anything at all. The EL6692s also are similarly void of information of existing mappings!
There is also the question of is there any useful references for editing/writing programs in the PLC Control? Currently the only examples I can find online are very specific!
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Hi, this is my first time asking a question so apologies if I get anything wrong. This is also my first time really working with WorkVisual so its all a bit alien to me. Both controllers are KRC4 8.3.17 and I'm on WorkVisual 5.0.2_Build0313.
I have the following setup in the robotic cell which has been set up by a professional integrator before my time.
This is the layout of the Beckhoff modules in the physical control cabinet.
I'm essentially trying to map the EL4004 module to be able to output an analogue signal to a new end effector that I'm developing/integrating into the system.
The approach I have currently tried is to decipher how the current I/O mapping is set up and then tweak it to map the new analogue output. To achieve this I opened up the existing project that is loaded onto the controller(s) and looked at the SYS-X44 and saw that the only device there is the EL6692. I can see from the physical control cabinet that there are two EL6692s, both with an ethernet cable coming out of them and running across to the KRC4 cabinets - so I'm pretty sure that this is what is actually doing the communicating between the robots and the control cabinet. This is where I've hit a bit of a dead end, since I cannot seem to access/edit the individual mappings for the existing digital inputs/outputs that I know have been set up on the robots.
For example, when I go to the I/O Mapping tab in WorkVisual I can see that there are only 4 digital outputs mapped to the EL6692, but I know that on the KR30-3, there are 5 working digital outputs ($OUT[1] through to $OUT[5]) that I can access using this physical I/O terminal that we have set up next to the robot. An ideal outcome for me would be to replace one of these digital outputs with an analogue output.
No matter what Device Description Files I add to WorkVisual (EL1809, EL2809, EL4004, etc etc), I cannot seem to scan/see/create the same topology as I know to exist in the physical control cabinet. Here are the rest of the settings of the EL6692 in WorkVisual, which offers me very little in terms understanding more.
Finally, I suspect that the key to all of this is the CX8090 module. I cannot find a Device Description File for the CX8090 to edit in WorkVisual, but something tells me that I need to plug an ethernet from my PC into the CX8090 and use something like TwinCAT to control the topology and the I/O mappings of the whole Beckhoff layout? But I don't think I have any project files for TwinCAT and not sure how to connect to the CX8090, or if that's just barking up completely the wrong tree.
Please let me know if I need to provide anything else to help get an answer to this. I'm aware I haven't really asked too many specific questions, but I hope that my queries are clear from the general description of the problem... but if more specific questions are needed then just let me know.
Thank you for your time!